Robust Connectivity Analysis for Multi-Agent Systems
Dimitris Boskos, Dimos V. Dimarogonas

TL;DR
This paper introduces a decentralized control method that ensures the connectivity of multi-agent systems is preserved despite bounded input disturbances, facilitating reliable high-level planning under coupled constraints.
Contribution
It presents a novel robust control framework that maintains network connectivity in multi-agent systems with bounded disturbances, enabling better abstraction and planning.
Findings
Connectivity is guaranteed under bounded input terms.
Framework supports high-level plan generation.
Decentralized control enhances robustness.
Abstract
In this report we provide a decentralized robust control approach, which guarantees that connectivity of a multi-agent network is maintained when certain bounded input terms are added to the control strategy. Our main motivation for this framework is to determine abstractions for multi-agent systems under coupled constraints which are further exploited for high level plan generation.
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Taxonomy
TopicsDistributed Control Multi-Agent Systems · Logic, Reasoning, and Knowledge · Distributed systems and fault tolerance
